Eigen3 problem with Moveit tutorials and Aubo in Kinetic

asked 2019-04-15 10:36:42 -0600

mengzhilinxi gravatar image

updated 2019-04-15 11:09:43 -0600

gvdhoorn gravatar image

I met problem with catkin build Moveit tutorials and Aubo. They both point Eigen3.

In file included from /usr/include/eigen3/Eigen/Core:142:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model.h:47,
                 from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h:41,
                 from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:47,
                 from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_state/include/moveit/robot_state/robot_state.h:41,
                 from /home/menghui/ws_moveit/src/moveit/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h:43,
                 from /home/menghui/aubo_ws/src/aubo_robot/aubo_demo/src/MoveGroupInterface_To_Kinetic.cpp:39:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/menghui/aubo_ws/src/aubo_robot/aubo_demo/src/MoveGroupInterface_To_Kinetic.cpp:92:73:   required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
                                        ^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:334:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(Af
     ^
[ 98%] Linking CXX executable /home/menghui/aubo_ws/devel/lib/aubo_driver/testAuboAPI
[ 98%] Built target testAuboAPI
aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/build.make:62: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/src/MoveGroupInterface_To_Kinetic.cpp.o' failed
make[2]: *** [aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/src/MoveGroupInterface_To_Kinetic.cpp.o] Error 1
CMakeFiles/Makefile2:595: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all' failed
make[1]: *** [aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
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